A fuzzy system is a structured Numerical estimator in LISP example Inverted Pendulum

Write a program in Lisp to demonstrate that a fuzzy system is a structured

Numerical estimator-using example of controlling an inverted pendulum.

(Enter two strings for angle of pendulum θ and angular velocity Δθ.

Convert them into strings of fuzzy using five fuzzy set values NM(Negative medium), NS (Negative Small), ZE(Zero), PS (Positive Small) and PM ( Positive Medium). Apply FAM rules to find the output values v,the current to the motor control of the pendulum to each input set of (θ,Δθ). Create a string of fuzzy output values of the current.)

(defun FAM (angPen anguVel)

                (cond

                                ((equal angPen "NM")

                                                                (cond

                                                                                ((equal anguVel "NM") nil)

                                                                                ((equal anguVel "NS") nil)

                                                                                ((equal anguVel "ZE") (print "PM"))

                                                                                ((equal anguVel "PS") nil)

                                                                                ((equal anguVel "PM") nil)

                                                                )

                                )

                                ((equal angPen "NS")

                                                                (cond

                                                                                ((equal anguVel "NM") nil)

                                                                                ((equal anguVel "NS") nil)

                                                                                ((equal anguVel "ZE") (print "PS"))

                                                                                ((equal anguVel "PS") nil)

                                                                                ((equal anguVel "PM") nil)

                                                                )

                                )

                                ((equal angPen "ZE")

                                                                (cond

                                                                                ((equal anguVel "NM") (print "PM"))

                                                                                ((equal anguVel "NS") (print "PS"))

                                                                                ((equal anguVel "ZE") (print "ZE"))

                                                                                ((equal anguVel "PS") (print "NS"))

                                                                                ((equal anguVel "PM") (print "NM"))

                                                                )

                                )

                                ((equal angPen "PS")

                                                                (cond

                                                                                ((equal anguVel "NM") nil)

                                                                                ((equal anguVel "NS") nil)

                                                                                ((equal anguVel "ZE") (print "NS"))

                                                                                ((equal anguVel "PS") nil)

                                                                                ((equal anguVel "PM") nil)

                                                                )

                                )

                                ((equal angPen "PM")

                                                                (cond

                                                                                ((equal anguVel "NM") nil)

                                                                                ((equal anguVel "NS") nil)

                                                                                ((equal anguVel "ZE") (print "NM"))

                                                                                ((equal anguVel "PS") nil)

                                                                                ((equal anguVel "PM") nil)

                                                                )

                                )

                )

)

(FAM "NM" "ZE")

OUTPUT:

---- Done ----

FAM

---- Done ----

"PM"